UNIT II – INFINITE IMPULSE RESPONSE FILTERS

Characteristics of practical frequency selective filters. characteristics of commonly used analog filters -
Butterworth filters, Chebyshev filters. Design of IIR filters from analog filters (LPF, HPF, BPF, BRF) -
Approximation of derivatives, Impulse invariance method, Bilinear transformation. Frequency transformation
in the analog domain. Structure of IIR filter - direct form I, direct form II, Cascade, parallel realizations.

STRUCTURES FOR IIR SYSTEMS:

IIR Systems are represented in four different ways
1. Direct Form Structures Form I and Form II
2. Cascade Form Structure
3. Parallel Form Structure
4. Lattice and Lattice-Ladder structure.
DIRECT FORM-I :
Challenge: Obtain the direct form-I, direct form-II,Cascade and parallel form realization of the system y(n)=-0.1y(n-
1)+0.2y(n-2)+3x(n)+3.6x(n-1)+0.6x(n-2) [April/May-2015]
Solution:
Direct Form I:
Let 3x(n)  3.6 x( n  1)  0.6 x (n  2)  w( n)
y (n)  0.1y (n  1)  0.2 y (n  2)  w(n)
The direct form I realization is

Direct form II:

From the given difference equation we have

Y ( z ) 3  3.6 z 1  0.6 z 2
H ( z)  
X ( z ) 1  0.1z 1  0.2 z 2

The above system function can be realized in direct form II

IIR Filters Page 1

Cascade Form:

Y ( z ) 3  3.6 z 1  0.6 z 2

X ( z ) 1  0.1z 1  0.2 z 2
(3  0.6 z 1 )(1  z 1 )

(1  0.5 z 1 )(1  0.4 z 1 )

3  0.6 z 1
H1 ( z ) 
1  0.5 z 1

1  z 1
H 2 ( z) 
1  0.4 z 1
Now we realize H1 ( z ) and H 2 ( z ) and cascade both to get realization of H(z)

3
+
+ + +
x(n) y(n)

z-1 z-
1

-0.5 0.6 0.4

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Parallel form:

3  3.6 z 1  0.6 z 2
H ( z) 
1  0.1z 1  0.2 z 2
7 1
 3  1

1  0.4 z 1  0.5 z 1
 c  H1 ( z )  H 2 ( z )

x(n) -3 + 7
+

z-
0.4 1

+ -1 + y(n)

z-
-0.5 1

-----------------------------------------------------------------------------------------------------------

Direct form I:
H.W: Obtain the direct form-I realization for the system described by the following difference
equations.
(i) y (n )=2y(n−1)+3y( n−2 )+x(n )+2x( n−1)+3x(n−2)
(ii) y(n)=0. 5 y(n−1)+0 .06 y(n−2 )+0 .3 x(n)+0. 5 x(n−1 )
Obtain the direct form-I realization for the system described by difference equation
y(n )=0 .5 y (n−1)−0 .25 y(n−2)+x(n )+0. 4 x(n−1 )
---------------------------------------------------------------------------------------------------------------------
Direct form II
H.W: Determine the direct form II realization for the following system

(i) y(n )+ y (n−1 )−4 y (n−3)=x (n )+3 x( n−2 )

3 1 1
(ii) y (n)= y ( n−1 )− y (n−2)+x (n )+ x (n−1)
4 8 2 [May/June-14]
Determine the direct form II realization for the following system
y (n )=−0 . 1 y (n−1)+0 . 72 y (n−2)+0. 7 x (n)−0 .252 x (n−2 )
CASCADE FORM:
-----------------------------------------------------------------------------------------------------------------

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 −1 −2
1+ 2 z + z
H ( z)=
3 1
1− z−1 + z−2
H.W: For the system function 4 8 obtain cascade structure.
3 1 1
y (n )= y (n−1 )− y (n−2)+x (n )+ x (n−1 )
Realize the system with difference equation 4 8 3 in
cascade form.
**************************************************************************************
Parallel form:
H.W: Realize the system given by difference equation
y (n )=−0 . 1 y (n−1)+0 . 72 y (n−2)+0. 7 x (n)−0 .252 x (n−2 ) in parallel form.
**************************************************************************************
Analog filter design:
There are two types of analog filter design are,
 Butterworth Filter
 Chebyshev Filter.
Analog Low pass Butterworth Filter:
N Denominator of H(s)
1 S +1
2 s 2 + √2 s +1
3 ( s +1 ) ( s 2 + s+1 )
4 ( s2 +0. 76537 s +1 )( s 2+1 . 8477 s +1 )
5 ( s +1 ) ( s 2 +0 . 61803 s+ 1 )( s 2 +1 .61803 s+1 )
6 ( s2 +1 . 931855 s+1 )( s 2 + √ 2 s+ 1 )( s 2 +0 . 51764 s +1 )
7 ( s +1 ) ( s 2 +1 .80194 s+1 )( s 2 +1 .247 s+1 ) ( s2 +0 . 445 s+1 )

------------------------------------------------------------------------------------------------------------------------
Design an analog Butterworth filter that has a -2dB pass band attenuation at a frequency of 20 rad/sec and atleast
-10 dB stop band attenuation at 30 rad/sec.
Solution:
Given data:
Pass band attenuation αP= 2 dB;
Stop band attenuation αS= 10 dB;
Pass band frequency ΩP= 20 rad/sec.
Stop band frequency ΩS=30 rad/sec.
The order of the filter

[ ]
0. 1 α s

N≥
log 10
√(
10
Ωs
10
0 .1 α
p
−1
−1 )
log 10 ( )
ΩP

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 [ ]
100. 1∗10 −1

N≥
log 10
√(
100. 1∗2−1
30
)
log 10 ( )
20

≥
log
(√ 10−1
10 −1 )0. 2

30
log
20
≥ 3 . 37
Rounding off ‘N’ to the next higher integer, we get
N=4
The normalized transfer function for N=4.
1
H a (s )=
( s + 0 .76537 s+1 ) ( s2 +1 . 8477 s +1 )
2

To find cut off frequency

Ωp
Ωc = 0.1 αp 1/2 N
(10 −1)
20
Ωc = 1
=21 . 3868
2∗4
( 100. 1∗20 −1 )
The transfer function for Ωc=21.3868,
H( s )=H a ( s )| s
S−¿
21. 3868
1 s
H (s)= |s−¿
( s 2 +0 .76537 s+1 )( s2 +1. 8477 s+1 ) 21. 3868
1 1
H (s )= 2
∗ 2
s s s s
(21 . 868 )
+0 .76535
21. 3868 (
+1
21 . 868 ) (
+1. 8477
21. 3868
+1 ) ( )
0 .20921×10 6
H (s )= 2
( s +16 . 3686 s +457 . 394 )( s2 +39 .5176 s+457. 394 ) *********************
*************************************************************************
H.W: Challenge 1: For the given specification design an analog Butterworth filter
0.9≤|H ( jΩ)|≤1 for 0≤Ω≤0.2π
|H ( jΩ)|≤0.2 for 0 .4 π≤Ω≤π .
0 . 323
H (s )=
Ans: ( s 2 +0 .577 s+0. 0576 π 2 )( s2 +1. 393 s +0 . 0576 π 2 )
Challenge 2: Determine the order and the poles of low pass Butterworth filter that has 3 dB attenuation at 500 Hz
and an attenuation of 40dB at 1000Hz.
H (s )=( s+ 1 ) ( s 2 +1. 80194 s+1 )( s2 +1. 247 s+1 )( s2 + 0. 445 s+1 )
Ans:

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Given the specification p α =1 dB; α =30 dB ;Ω =200 rad /sec ; Ω =600 rad/sec .
s p s determine the
order of the filter. Ans: N=4
---------------------------------------------------------------------------------------------------------------------------
Analog Low pass Chebyshev Filter:
There are two types of Chebyshev filters.

Given specifications αp= 3dB,αs=16 dB, fP=1KHz and fS=2KHz. Determine the order of the filter
using Chebyshev approximation. Find H(s).

Solution:
Given:
Step 1:
Pass band attenuation αp= 3dB,
Stop band attenuation αs=16 dB,
Pass band frequency fP=1 KHz=2π*1000=2000π rad/sec
Stop band frequency fS=2 KHz=2π*2*1000=4000π rad/sec
Step 2: Order of the filter
0 .1 α S

N≥
cosh −1

√(10
ΩS
10
0 .1 α
P
−1
−1 )
cosh
−1
( )
ΩP

100 .1∗16−1

N≥
cosh −1
√( 100 .1∗3−1 )
cosh −1 (4000 π
2000 π )
≥1. 91
Rounding the next higher integer value N=2.
Step 3: The value of minor axis and major axis can be found as below

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 0 . 1* α P
√
ε = ( 10 −1 ) = √ ( 10
0 . 1* 3
−1 )=1
μ=ε−1 + √1+ε−2 =1−1 + √ 1+1−2=2. 414
1 1 1 1

a=Ω
[ μ −μ ]
P
N
=2000 π
[ ( 2. 414 ) −( 2. 414 ) ]
−
N
=910 π
2
−
2

2 2
1 1 1 1

b=Ω S
[ μ +μ ] =4000 π [ ( 2. 414 ) +( 2 . 414) ] =2197 π
N
−
N 2
−
2

2 2
Step 4: The poles are given by
S K =a cos φk + jb sin φk ; k=1,2
π ( 2k −1 ) π
φ k= + ; k=1,2
2 2N
For k=1
π ( 2−1 ) π π π
φ1 = + = + =135o
2 2∗2 2 4
Fork=2
π ( 2∗2−1 ) π π 3 π
φ2 = + = + =225o
2 2∗2 2 4
s1 =a cos φ 1 + jb sin φ1 =( 910 π *cos 135 )+ j ( 2197*sin 135 )
s1 =−643 . 46 π + j 1553 π
s2 =a cos φ2 + jb sin φ2 =( 910 π *cos 225 )+ j (2197 *sin 225 )
s2 =−643. 46 π − j 1553 π
Step 5: The denominator of H(s):
H( s)=( s+643 . 46 π )2 + ( 1554 )2
Step 6: The numerator of H(s):
( 643 . 46 π )2 + ( 1554 π )2
substitute , s=0 H ( s )=
√ 1+ ε2
( 643 . 46 π )2 + ( 1554 π )2 2
= 2
=( 1414 . 38 ) π 2
√1+1
( 1414 . 38 )2 π 2
H (s )= 2
The transfer function s +1287 πs + ( 1682 )2 π 2
----------------------------------------------------------------------------------------------------------------------------
HW: Challenge 1: Obtain an analog Chebyshev filter transfer function that satisfies the constraints
1
≤|H ( j Ω)|≤1; for 0≤Ω≤2
√2
|H ( jΩ)|≤0 .1 for Ω≥4

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 2
H( s )=
2
Ans: ( s +0 . 596 ) ( s +0 .596 s+3 . 354 )
2. Design a Chebyshev filter with a maximum pass band attenuation of 2.5dB at ΩP=20rad/sec and
stop band attenuation of 30 dB at ΩS=50rad/sec.
2265. 27
H (s )=
Ans: N=3. ( s+6 . 6 ) ( s2 +6 .6 s+343 . 2 )
---------------------------------------------------------------------------------------------------------------------------------
3. For the given specifications find the order of the Chebyshev-I filter
α P =1 .5 dB; α S =10 dB ;Ω P =2rad / Sec ; Ω S =30 rad /sec.
---------------------------------------------------------------------------------------------------------------------------------
4. For the given specifications find the order of the Chebyshev-I filter
α P =1 dB ;α S =25 dB ;Ω P =1 rad/Sec ; Ω S =20 rad /sec .
Discrete time IIR filter from analog filter:
Magnitude Response of LPF:

Design of IIR filters from analog filters:

The different design techniques available for IIR filter are
1) Approximation of derivates
2) Impulse invariant method
3) Bilinear transformation
4) Matched z-transform techniques.
Approximation of derivates:
For analog to digital domain, we get
1−z−1
s=
T -------------------------- (3)
H( z)=H (s )| 1− z−1
s=
T --------------------- (4)
Mapping of the s-plane to the z-plane using approximation of derivatives.
------------------------------------------------------------------------------------------------------------------------------
1
H a (s )=
Convert the analog BPF with system IIR filter ( s +0 . 1 )2 +9 into a digital IIR filter by
Solution:
use of the backward difference for the derivative. [Nov/Dec-2015]
Given:
H( z )=H a ( s )| 1−z−1
s=
T

IIR Filters Page 8

 1
H( z)= |
( s+0 .1 )2 +9 s=1−z
T
−1

1
= 2
1−z −1
( T
+0 .1 +9 )
2 2
T ( 1+0 . 2T +9 . 01T )
=
2 (1+0.1 T ) 1
1− 2
z−1 + 2
z−2
1+0 .2 T +9 .01 T 1+0 .2 T +9 .01 T
T =0 .1 sec,
= 0 .91± j0 . 27
Design of IIR filter using Impulse Invariance Method:
Steps to design a digital filter using Impulse Invariance Method (IIM):
Step 1: For the given specifications, find Ha(s) the Transfer function of an analog filter.
Step 2: Select the sampling rate of the digital filter, T seconds per sample.
Step 3: Express the analog filter transfer function as the sum of single-pole filter.
N
Ck
H a (s )= ∑
k=1 S−P k
Step 4: Compute the z-transform of the digital filter by using formula
N
Ck
H ( z )=∑ pk T −1
k=1 1−e z
For high sampling rate,
N
TC k
∴ H ( z )=∑ p k T −1
k=1 1−e z
------------------------------------------------------------------------------------------------------------------------------------------------------
2
H ( s) 
For the analog transfer function s  3s  2 Determine H (z) using impulse invariant transformation if
2

(a) T=1 second and (b) T=0.1 second. [Nov/Dec-15]

Solution:

IIR Filters Page 9

 2 2
Given that , H ( s )  
s  3s  2 ( s  1)(s 2)
2

By partial fraction exp ansion tchnique we can write,

The roots of quadratic,
S 2  3S  2  0 are,
2 A B 3  32  4 X 2
H ( s)    s
( s  1)( s  2) s  1 s  2 2
3  1
  1, 2
2
2 2
A X ( s  1)  2
( s  1) (s 2) 1  2
s 1

2 2
B X ( s  2)   2
(s  1) ( s  2) 2  1
s2

2 2
 H ( s)  
s 1 s  2
By impulsein var iant transformation we knowthat ,
Ai Ai

s  pi 1  e  piT z 1
2 2
H (z)   piT
 Where p1  1, p2  2
1 e z 1  e  piT z 1
1

2 2
H (z)   T 1

1 e z 1  e 2T z 1

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( a ) When T  1second
2 2
H (z)  1 1

1 e z 1  e 2 z 1
2 2 2(1  0.1353z 1 )  2(1  0.3679 z 1 )
H ( z)   
1  0.1353z 1 1  0.1353z 1 (1  0.367 z 1 )(1  0.1353z 1 )
2  0.27606 z 1  2  0.7358 z 1 0.4652 z 1
 
1  0.1353z 1  0.3679 z 1  0.0498 z 2 1  0.5032 z 1  0.0498 z 2
0.4652 z 1 0.4652 z 1
H ( z)  
1  0.5032 z 1  0.0498 z 2 z 2 (z 2  0.5032 z  0.0498)
0.4652 z
H ( z) 
(z  0.5032 z  0.0498)
2

(b) When T  0.1sec ond

2 2
H ( z)  0.1 1

1 e z 1  e 0.2 z 1
2 2 2(1  0 .8187 z 1 )  2(1  0.9048 z 1 )
  
1  0.9048 z 1 1  0.8187 z 1 (1  0.8187 z 1 )(1  0.9048 z 1 )
2  1.6374 z 1  2  1.8096 z 1 0.1722 z 1
 
1  0.8187 z 1  0.9048 z 1  0.7408 z 2 1  1.7235 z 1  0.7408 z 2
0.1722 z 1 0.1722 z 1
H ( z)  
1  1.7235 z 1  0.7408 z 2 z 2 ( z 2  1.7235 z  0.7408)
0.1722 z
 2
z  1.7235z  0.7408
Since, T  1, we can compute magnitude normalized transfer function, H ( z ).
0.1722 z 1 0.1722 z 1
H N ( z )  T X H ( z )  0.1 X 
1  1.7235 z 1  0.7408 z 2 1  1.7235 z 1  0.7408 z 2
0.1722 z 0.172 z
H N ( z )  T X H ( z )  0.1 X 2  2
z  1.7235z  0.7408 z  1.7235z  0.7408

Design a third order Butterworth digital filter using impulse invariant technique. Assume sampling period T=1
sec.
Solution:
Given: For N=3, the transfer function of a normalized Butterworth filter is given by
1
H(s) 
(s  1)( s 2  s  1)

1 1  0.66 z 1
H ( z)  
Ans: 1  0.368z 1 1  0.786 z 1  0.368 z 2

IIR Filters Page 11

----------------------------------------------------------------------------------------------------------------------------
s +a
H (s )=
Apply impulse invariant method and find H(z) for ( s+ a )2 +b2

Solution:
s +a
H (s )=
Given: The transfer function (s+ a )2 +b2
Sampling the function produces

−anT
h(nT)=¿{e cos(bnT) for n≥0¿ ¿ ¿
¿
--------------------------------------------------------------------------------------------------------------------------------

H a (s )=
s +0 .1
Convert analog filter ( s+0 . 1)2 +9 into digital IIR filter using impulse invariant
method. [Nov/Dec-2015]
Solution:
s +0 .1
H a (s )=
Given: Analog filter ( s+0 . 1)2 + 9
s +a 1−e−aT cos(bT ) z−1
=
(s +a )2 +b 2 1−2 e−aT cos(bT ) z−1 +e−2 aT z−2

s+0 . 1 1−e−aT cos (bT )z−1

= ; T=1 sec
(s+0 .1 )2 +9 1−2 e−aT cos(bT )z −1 + e−2aT z−2

IIR Filters Page 12

 s+0. 1 1−e−0 . 1 cos(3 )z −1
= ;
(s +0 .1 )2 +9 1−2 e−0 .1 cos (3) z−1 +e−2∗0. 1 z−2
1−0 . 9048*(−0 . 9899 )z−1
=
1+1 .791 z−1 +0 . 818 z−2
1+0. 89566z −1
H ( z )=
1+1 . 7915 z−1 +0. 818 z−2

6
H a (s )=
Convert analog filter ( s+0 . 1)2 + 36 into digital IIR filter whose system function is given
above. The digital filter should have (ωr=0.2 π). Use impulse invariant mapping T=1sec.

Solution:
6
H a (s )=
Given: Analog filter ( s+0 . 1)2 + 36
−aT −1
b e sin bTz
2 2
=
( s+ a) +b 1−2 e cos bTz−1 +e−2aT z −2
−aT

6 e−0. 1 sin(6 ) z−1

=
(s+0 .1 )2 +36 1−2 e−0. 1 cos(6 )z−1 +e−2∗0. 1 z−2
Assume T =1 sec .
6 −0 .2528 z−1
=
( s+0. 1)2 +36 1−2∗0. 8687 z−1 +0 . 818 z−2
−0 . 2528z−1
= −1 −2
1−1 .7374 z +0. 818 z
---------------------------------------------------------------------------------------------------------------------------------
10
H a ( s )= 2
H.W: Challenge 1: An analog filter has a transfer function s +7 s+10 . Design a digital
filter equivalent to this using impulse invariant method for T=0.2 sec. [Nov/Dec-15]
0.2012z 1
H(z) 
Ans : 1  1.0378 z 1  0.247 z 2
5
H ( s )= 3 2
2. An analog filter has a transfer function s +6 s +11 s+6 . Design a digital equivalent to
this using impulse invariant method for T=1 sec.
s+3
H (s )= 2
3. An analog filter has a transfer function s +6 s +25 . Design a digital filter equivalent to
this using impulse invariant method T=1 sec.
---------------------------------------------------------------------------------------------------------------------------------

Design of IIR filters using Bilinear Transformation:

Steps to design digital filter using bilinear transform technique:

IIR Filters Page 13

 2 ω
Ω= tan
1. From the given specifications, find prewarping analog frequencies using formula T 2
2. Using the analog frequencies find H(s) of the analog filter.
3. Select the sampling rate of the digital filter, call it T seconds per sample.
2 1−z −1
4. Substitute
s= (
T 1+z−1 )
into the transfer function found in step2.
---------------------------------------------------------------------------------------------------------------------------------
2
H (s )=
Apply bilinear transformation of ( s+1 ) ( s +2 ) with T=1 sec and find H(z).[Nov/Dec-13]

Solution:
2
H (s )=
Given: The system function ( s+1 ) ( s +2 )
2 1−z−1
Substitute s=
[ ]
T 1+ z−1
in H (s ) to get H ( z)

H( z )=H ( s )| 2 1−z−1
s=
[
T 1+z−1 ]
2
= |
( s+1 ) ( s+2 ) s= 2 [ 1−z −1

]
T 1+z −1

Given T=1 sec.

2
H(z) 
  1  z 1     1  z 1  
2  1 
 1  2  1 
 2
  1 z   1 z  
2  1  z 1 
2


 3  z  (4)
1


1 z  1 2

6  2 z 1
0.166(1  z 1 ) 2
H(z) 
(1  0.33z 1 )
---------------------------------------------------------------------------------------------------------------------------------

Using the bilinear transformation, design a high pass filter, monotonic in pass band with cut off
frequency of 1000Hz and down 10dB at 350 Hz. The sampling frequency is 5000Hz. [May/June-16]
Solution:
Given: Pass band attenuation α P =3 dB ; Stop band attenuation α S =10 dB
Pass band frequency ω P=2 π∗1000=2000 π rad/sec .

IIR Filters Page 14

Stop band frequency ω S =2 π∗350=700 π rad/sec .
1 1
T= = =2∗10−4 sec.
f 5000
Prewarping the digital frequencies, we have
2 ω T 2 ( 2000 π∗2∗10−4 )
Ω P = tan P = tan =10 4 tan ( 0. 2 π )=7265 rad/sec .
T 2 2∗10 −4 2
2 ωS T 2 ( 700 π∗2∗10−4 )
Ω S = tan = tan =10 4 tan( 0 . 07 π )=2235 rad/sec .
T 2 2∗10−4 2
The order of the filter
0 . 1α S

N≥
log
√
10
ΩS
log Ω
10
0 .1 α P
−1
−1

10 0. 1×10−1
=
log
√
100 .1×3 −1
7265
log
2235
log(3 ) 0. 4771
= = =0 . 932
log(3 .25 ) 0. 5118
N= 1
The first order Butterworth filter for ΩC=1 rad/sec is H(s) = 1/S+1
The high pass filter for ΩC=ΩP=7265 rad/sec can be obtained by using the transformation.
Ω
S→ C
s
7265
S→
s
The transfer function of high pass filter
1
H (s)= |
s+1 s=7265
s
s
=
s+7265

IIR Filters Page 15

 U sin g bilinear transformation
H( z )=H (s)|
2 1−z−1
s=
(
T 1+ z−1 )
s
= |
s+7265 s =2 1−z−1
2∗10
−4 (
1 +z
−1 )
1−z−1

=
10 0 00
( )
1+z
−1

1−z−1
10000
( )
1+z−1
+7265

0. 5792 ( 1−z−1 )
= −1
1−0 .1584 z
--------------------------------------------------------------------------------------------------------------------------------
H.W: 1. Determine H(z) that results when the bilinear transformation is applied to Ha(s)=
s 2 + 4 . 525 1. 4479+ 0. 1783 z−1 +1 . 4479 z−2
H ( z )=
s 2 +0 . 692 s+0 . 504 [Nov/Dec-15] Ans: 1−1 .18752 z−1 +0 . 5299 z−2
1
H ( s )= 2
2. An analog filter has a transfer function s +6 s +9 ,design a digital filter using bilinear
transformation method.
-------------------------------------------------------------------------------------------------------------------------------
Additional Examples:
Design a digital Butterworth filter satisfying the constraints
π
0. 707 ≤|H (e jω )|≤1 for 0≤ω≤
2
3π
|H (e jw )|≤0 .2 for ≤ω≤π
4
With T=1 sec using bilinear transformation. [April/May-2015][May/June-14]

Solution:
Given data:
π
α 707 ωP=
Pass band attenuation P =0. ; Pass band frequency 2 ;
3π
ω =
Stop band attenuation α S =0 . 2 ; Stops band frequency
S
4 ;
Step 1: Specifying the pass band and stop band attenuation in dB.
Pass band attenuation α P=−20 log δ 1=−20 log(0. 707 )=3 . 0116 dB
Stop band attenuation α S =−20 logδ 2=−20 log(0 . 2)=13 . 9794 dB

IIR Filters Page 16

Step2. Choose T and determine the analog frequencies (i.e) Prewarp band edge frequency
π
2
Ω P= tan
T
ωP T 2
2 ( ) 2 π
()
= tan = 2tan =2 Rad/ Sec
1 2 4 ()
3π
2
ΩS = tan
T
ωS T 2
2 ( )
= tan
1
4
2
=2tan
8
()
3π
=4.828 Rad /Sec
Step3. To find order of the filter
( )

[ ]
0. 1 α s

N≥
log 10
√(
10
Ωs
10
0 .1 α
p
−1
−1 )
log 10 ( )
ΩP

100. 1∗3 . 01−1

N≥
log
√( 100. 1∗13 . 97−1 )
(42 .828 )
log

0 .9998

≥
√ 23. 945 )
log (

log ( 2 . 414 )
log ( 0 . 20433 )
≥
log(2 . 414 )
−0 . 6896
≥
0 . 382
≥1. 8017
Rounding the next higher value N=2
Step 4: The normalized transfer function
1
H a ( s )= 2
s + √2 s +1
Step 5: Cut off frequency
Ωp
Ωc = 0.1 αp 1/2 N
(10 −1)
2 2
Ωc = 1
= 1
=2 Rad /Sec
2∗2 4
( 100. 1∗3 . 01−1 ) ( 0. 9998 )
Step 6: To find Transfer function of H(s):

IIR Filters Page 17

 H( s )=H a (s )| s
S−¿
2

1
H (s)= 2
| s
s + √2 s+1 S → 2
1
=
s 2 s
() ()
2
+ √2
2
+1
4
H ( s )= 2
s +2 .828 s+ 4
Step 7. Apply Bilinear Transformation with to obtain the digital filter

H( z )=H (s)|
2 1− z−1
S=
(
T 1+z−1 )
4
= |
s 2 +2 . 828 s+ 4 S= 2 1−z−1
(
T 1+ z−1 )
−1 2
4 ( 1−z )
= 2 2
4 ( 1−z−1 ) + 5. 656 ( 1−z −2 ) +4 ( 1+ z−1 )
−1 2
0 . 2929 ( 1+ z )
H( z )=
1+0 .1716 z−2
-------------------------------------------------------------------------------------------------------------------------------
Design a digital Butterworth filter satisfying the constraints
π
0. 707 ≤|H (e jω )|≤1 for 0≤ω≤
2
3π
|H (e jw )|≤0 .2 for ≤ω≤π
4
With T=1 sec using Impulse invariant method. [Nov/Dec-13]

Solution:
Given data:
π
ωP=
Pass band attenuation α P =0. 707 ; Pass band frequency 2 ;
3π
α =0 . 2 ωS=
Stop band attenuation S ; Stops band frequency 4 ;
Step 1: Specifying the pass band and stop band attenuation in dB.
Pass band attenuation α P =−20 log δ 1=−20 log(0. 707 )=3 . 0116 dB
Stop band attenuation α S =−20 logδ 2=−20 log(0 . 2)=13 . 9794 dB

IIR Filters Page 18

Step2. Choose T and determine the analog frequencies (i.e) Prewarp band edge frequency
π
ω P =Ω P T = Rad /Sec
2
3π
ω S =Ω S T = Rad /Sec
4
Step3. To find order of the filter

[ ]
0. 1 α s

N≥
log 10
√(
10
Ωs
10
0 .1 α
p
−1
−1 )
log 10 ( )
ΩP

100. 1∗3 . 01 −1

N≥
log
√(
100. 1∗13 . 97−1
3π
)
log
4
π
2
()
≥
log (√ 023..9998
945 )
log ( 1 .5 )
log ( 0 . 20433 )
≥
log(1 .5 )
−0 . 6896
≥
0 . 17609
≥3 . 924
Rounding the next higher value N=4
Step 4: The normalized transfer function
1
H a (s )=
( s2 + 0 .76537 s+1 ) ( s2 +1 . 8477 s +1 )
Step 5: Cut off frequency
Ωp
Ωc = 0.1 αp 1/2 N
(10 −1)
π π
2 2
Ωc = 1
= 1
=1. 57 Rad / Sec
2∗4 8
( 100. 1∗3 . 01−1 ) ( 0 . 9998 )

Step 6: To find Transfer function of H(s):

H( s )=H a ( s )| s
S−¿
1. 57

IIR Filters Page 19

 1
H (s)= |
( s 2+0.76537 s+1 )( s2 +1.8477 s+1 ) S → 1.s57
1
= |
2 2
s s s s
(( ) 1.57
+0.76537
1.57( ) )(( )
+1
1.57
+1.8477
1.57
+1 ( ))
(1.57 )4
H (s)=
( s2+1.202s+2.465 )( s2+2.902s+2.465 )
Step 7: Using partial fraction expansion, expand H(s) into

A A¿ B B¿
H (s)= + + +
( s+1 . 45+ j0 . 6 ) ( s+1 . 45− j 0. 6 ) ( s+0. 6+1 . 45 j ) ( s+0. 6−1. 45 j )

To find A and A*:

A =H (s)|S=−1 .45− j 0. 6
(1 .57 )4
=( s+1.45− j0.6 ) |
( s+1.45+ j 0.6 ) ( s+1 .45− j0.6 ) ( s 2 +2.902 s+2.465 ) S=−1.45− j0. 6

( 1.57 )4
= |
( s+1. 45− j0 . 6 ) ( s 2 +1 .202 s+2 . 465 )
S=−1 .45− j 0 . 6

( 1. 57 ) 4
=
(−1. 45− j0. 6+1. 45− j0 . 6 ) ( (−1. 45− j0. 6 )2 +1. 202 (−1 . 45− j 0 .6 )+2. 465 )
( 1. 57 ) 4
=
− j ( 1. 2 ) [ 1 . 7425+1. 74 j−1. 7429− j0. 7212+2. 465 ]
( 1. 57 ) 4 5. 063
= =
− j ( 1. 2 ) [ 2 . 465+ j1 . 0188 ] 1.0188− j 2. 465
5.063 ( 1 .0188− j 2. 465 )
=
7.114
A = 0 . 7253+ j1. 754 ; A∗¿0 . 7253− j1. 754

To find B and B*:

A =H (s)|S=−0.6− j1 .45
( 1.57 )4
=( s+0.6+ j 1.45 ) |
( s+1.45+ j 0.6 ) ( s+1.45− j 0.6 )( s+0.6+1.45 j ) ( s+0.6−1.45 j ) S=−0.6− j1. 45

IIR Filters Page 20

 ( 1.57 )4
= |
(−0 .6− j1 . 45+1. 45+ j 0 .6 )(−0.6− j 1. 45+1. 45− j 0 .6 )(−0.6− j 1. 45+0.6−1.45 j ) S=−0 . 6− j 1. 45

( 1.57 ) 4
=
( 0. 85− j0 .85 ) ( 0.85− j 0 .85 )(−2 .9 j )
( 1.57 ) 4
=
− j [ −1.0187− j 2.468 ]
2.095
=
−2. 468+ j 1.0187
B=−0 .7253− j 0. 3 ; B*=−0. 7253+ j0. 3
0 .7253+ j1.754 0 . 7253− j1 .754 −0 .7253−0 .3 j −0 .7253+0. 3 j
H (s)= + + +
s− (−1. 45− j 0 .6 ) s−(−1 . 45+ j0 . 6 ) s−(−0 . 6− j1 . 45 ) s−(−0 .6 + j 1. 45 )
we know for T=1 sec
N
C
H (z )=∑ k p
k −1
k=1 1−e z

0. 7253+ j1.754 0 . 7253− j1 .754 −0 . 7253−0 . 3 j −0 . 7253+0 . 3 j

∴ = + + +
1−e−1. 45 e− j0 . 6 z−1 1−e−1. 45 e j0 . 6 z−1 1−e−0 . 6 e− j1. 45 1−e−0. 6 e j1. 45
1 . 454+0 . 1839z−1 −1 . 454+0 . 2307 z−1
H (z )= +
1−0. 387 z−1 +0 . 055 z −2 1−0 . 1322 z −1+ 0. 301 z−2

------------------------------------------------------------------------------------------------------------------------------------------
H.W: Challenge 1: Design a digital Butterworth filter satisfying the constraints
0.8≤|H (e jω )|≤1 for 0≤ω≤0.2 π
|H (e jw )|≤0.2 for 0.6π≤ω≤π
With T=1 sec using Impulse invariant method.
0.30109 z 1
H ( z) 
1  1.048 z 1  0.36 z 2
Ans:
Challenge 2: Design a digital Butterworth filter satisfying the constraints
0.8≤|H (e jω )|≤1 for 0≤ω≤0.2 π
|H (e jw )|≤0.2 for 0.6π≤ω≤π
With T=1 sec using Bilinear Transformation.
0.084  1  z 1 
2

H ( s) 
Ans: 1  1.028 z 1  0.3651z 2
Challenge 3: Determine the system function H(z) of the lowest order Butterworth digital filter with the
following specification.
(a) 3db ripple in pass band 0≤ω≤0 .2 π
(b) 25db attenuation in stop band 0 . 45 π ≤ω≤π
IIR Filters Page 21
 0.0687  1  z 1 
3

H ( z) 
 1  0.823z   1  1.6 z
1 1
 0.915 z 2 
Ans:

Challenge 4: Enumerate the various steps involved in the design of low pass digital Butterworth IIR filter. (ii) The
specification of the desired low pass filter is
jω
0.8≤|H (e )|≤1 for 0≤ω≤0.2 π
|H (e jw )|≤0.2 for 0.32π≤ω≤π
Design a Butterworth digital filter using impulse invariant transformation.
Ans:
−0 . 6242+0. 2747 z−1 0 .6242−0 .1168 z−1
H ( z )= +
1−0 . 253 z−1 +0 .5963 z−2 1−1. 0358 z−1 +0 . 2869 z−2

Design a chebyshev filter for the following specification using bilinear transformation.
0. 8 ≤|H ( e jω )|≤1 0≤ω≤0.2π
|H ( e jω )|≤0.2 0.6 π≤ω≤π .
Solution:
Given data:
Pass band attenuation α P=0. 8 ; Pass band frequency ω P =0 . 2 π ;
Stop band attenuation α S =0 . 2 ; Stops band frequency ω S =0 . 6 π ;
Step 1: Specifying the pass band and stop band attenuation in dB.
Pass band attenuation α P=−20 log δ 1=−20 log(0. 8 )=1 .938 dB
Stop band attenuation α S =−20 logδ 2=−20 log(0 . 2)=13 . 9794 dB
Step2. Choose T and determine the analog frequencies (i.e) Prewarp band edge frequency
2 ωP 0.2π
Ω P = tan
T 2
=2 tan
2 ( ) ( )
=0 . 649 dB

2 ω 0. 6 π
ΩS = tan S =2 tan
T 2 2 ( ) ( )
=2 .75 dB
Step3. To find order of the filter

0 .1 α S

N≥
Cosh−1
√Ω
10
10
0 .1 α P
−1
−1
Cosh−1 Ω s
p
( )

IIR Filters Page 22

 100.1∗13 . 97−1

¿
Cosh −1

√ 100.1∗1 . 938−1
2. 75
Cosh−1 ( 0. 649 )
23. 945
¿
Cosh−1
√
0 .562
2. 75
Cosh−1
0. 649( )
−1
Cosh ( 6 .5273 )
¿
Cosh−1 ( 4 . 2372 )
2. 5632
¿
2. 1228
¿ 1. 207
Rounding the next higher integer value N=2
Step4. The poles of chebyshev filter can be determined by
S k  a cos k  jb sin k , k  0,1, , N

Where,

(2k + N−1 )π
φ k= [ 2N ] And calculate a, b, ε , μ

ε=√10 0.1 αp−1,

=√ 10 0.1*1.938 −1
ε=0.75
μ=ε−1 + [ √1+ε −2 ]
=( 0.75 ) + [ √1+ ( 0.75 ) ]
−1 −2

μ=3
μ 1/N −μ−1/N
a=Ω p [ 2 ]
1 1

= 0 . 649

a=0 .375
[ 2
( 3 ) −( 3 )
2
−
2

IIR Filters Page 23

 μ 1/N +μ−1 /N
b=Ω p
2 [ ]
1 1

= 0 . 649

b=0 .75
[ 2
( 3 ) −( 3 )
2
−
2

]
(2 k + N−1)π
φ k=
2N[ ; k=1,2 ]
( 2(1 )+ 2−1 ) π 3 π
φ1 = [
2∗2
= =1350
4 ]
( 2(2 )+2−1 ) π 5 π
φ2 = [
2∗2
= =2250
4 ]
S K =a cos ϕk + jb sin ϕk , k=1,2
for k=1,
S 1 =0 .375 cos ϕ1 + j ( 0 . 75 ) sin ϕ1
= 0 . 375cos135 0 + j ( 0 . 75 ) sin135 0
S 1 =−0 .265+ j 0. 53
for k=2,
S 1 =0 .375 cos ϕ2 + j ( 0 . 75 ) sin ϕ2
= 0 . 375cos 2250 + j ( 0 . 75 ) sin225 0
S 1 =−0 .265− j 0 .53
Step.5 Find the denominator polynomial of the transfer function using above poles.

H (s)={ S +0 .265− j 0 .53 }{ S+0 . 265− j 0. 53 }

2 2
={( S+0 . 265 ) −( j 0 .53 ) }
=( S +0 . 265 )2+ ( 0 . 53 )2
= S 2 +0. 5306 s+0 .3516
Step 6 : The numerator of the transfer function depends on the value of N.

 If N is Even substitute s=0 in the denominator polynomial and divide the result by √ 1+ε2 Find
the value. This value is equal to numerator

0 . 3516 0. 3516
= =
2
√ 1+ε √1+( 0 . 75 )2
H (s)=0. 28

IIR Filters Page 24

Step 7: The Transfer function is

NM
H ( s) 
DM

0 . 28
H( s )= 2
s +0 . 5306 s +0 .3516

Step 8: Apply bilinear transformation with to obtain the digital filter

2  1  z 1 
H ( z )  H (s) s   
T  1  z 1 

0 . 28 2 1−z −1
H( z )=
s 2 +0. 5306 s +0 .3516
|s=
T 1+z−1( )
−1
0 . 28 1−z
= 2
s +0 . 5306 s +0 .3516
|s=2
1+z−1 ( )
0 . 28
= 2
1−z−1 1− z−1
( ( ))
2
1+z −1 ( ( ))
+0 .5306 2
1+z−1
+0 . 3516

−1 2
0 . 28 ( 1+z )
H( z )=
1−1 .348 z−1 +0. 608 z−2

====================================================================
Design a chebyshev filter for the following specification using impulse invariance method.
0. 8 ≤|H ( e jω )|≤1 0≤ω≤0.2π
|H ( e jω )|≤0.2 0.6 π≤ω≤π .[ May/June−2016 ]
Solution:
Given data:
Pass band attenuation α P=0. 8 ; Pass band frequency ω P =0 . 2 π ;
Stop band attenuation α S =0 . 2 ; Stops band frequency ω S =0 . 6 π ;
Step 1: Specifying the pass band and stop band attenuation in dB.
Pass band attenuation α P=−20 log δ 1=−20 log(0. 8 )=1 .938 dB
Stop band attenuation α S =−20 logδ 2=−20 log(0 . 2)=13 . 9794 dB
Step2. Choose T and determine the analog frequencies (i.e) Prewarp band edge frequency
ωP
Ω P= =0. 2 π Rad /Sec
T
ω
Ω S = S =0 . 6 π Rad /Sec
T
Step3. To find order of the filter
IIR Filters Page 25
 0 .1 α S

N≥
Cosh−1
√Ω
10
10
0 .1 α P
−1
−1
Cosh−1 Ω s
p
( )
100.1∗13 . 97−1

¿
Cosh
−1

√
100.1∗1 . 938−1
0. 6 π
Cosh−1 ( )
0. 2 π
23. 945
¿
Cosh−1
−1
Cosh ( 3 )
0 .562√
Cosh−1 ( 6 .5273 )
¿
Cosh−1 ( 3 )
2. 5632
¿
1. 7627
¿ 1. 454
Rounding the next higher integer value N=2
Step4. The poles of chebyshev filter can be determined by
S k  a cos k  jb sin  k , k  0,1, , N
Where,
(2k + N−1 )π
φ k= [ 2N ] And calculate a, b, ε , μ

ε=√10 0.1 αp−1,

=√ 10 0.1*1.938 −1
ε=0.75
μ=ε−1 + [ √1+ε −2 ]
=( 0.75 ) + [ √1+ ( 0.75 ) ]
−1 −2

μ=3
μ 1/N −μ−1/N
a=Ω p [ 2 ]
1 1

= 0 .2 π

a=0 .362
[ 2
( 3 ) −( 3 )
2
−
2

IIR Filters Page 26

 μ 1/N +μ−1 /N
b=Ω p
2 [ ]
1 1

= 0.2π

b=0 .7255
[ 2
( 3 ) −( 3 )
2
−
2

]
(2 k + N−1)π
φ k=
2N[ ; k=1,2 ]
( 2(1 )+ 2−1 ) π 3 π
φ1 = [
2∗2
= =1350
4 ]
( 2(2 )+2−1 ) π 5 π
φ2 = [
2∗2
= =2250
4 ]
S K =a cos ϕk + jb sin ϕk , k=1,2
for k=1,
S 1 =0 .362 cosϕ 1 + j ( 0 .7255 ) sin ϕ1
= 0 .362 cos135 0 + j ( 0 .7255 ) sin135 0
S 1 =−0 .256 + j 0 .513
for k=2,
S 1 =0 .362 cosϕ 2 + j ( 0 .7255 ) sin ϕ 2
= 0 .362 cos 2250 + j ( 0 .7255 ) sin225 0
S 1 =−0 .256− j0 .513
Step.5 Find the denominator polynomial of the transfer function using above poles.

H (s)={ S +0 .256− j0 . 513 }{ S+0. 256− j 0 .513 }

2 2
={( S+0 . 256 ) −( j 0 . 513 ) }
=( S +0 . 256 )2 + ( 0 . 513 )2
= S 2 +0. 513 s+0 .33
Step 6 : The numerator of the transfer function depends on the value of N.

 If N is Even substitute s=0 in the denominator polynomial and divide the result by √ 1+ε2 Find
the value. This value is equal to numerator

0 .33 0 . 33
= =
√1+ε √ 1+ ( 0 .75 )2
2

H (s)=0. 2 64
Step 7: The Transfer function is
NM
H ( s) 
DM

IIR Filters Page 27

 0 . 2 64
H( s)= 2
s +0 . 513 s +0 .33
Step 8: Using partial fraction expansion, expand H(s) into
2 Ak A1 A2
H (s )=∑ k=1 = +
s− pk s− p1 s− p2
0 .2 64 A1 A2
= +
s 2 +0 . 513 s +0 .33 s−(−0 .256+ j 0 .514 ) s−(−0. 256− j 0 .514 )
0 .257 j 0 .257 j
= −
s−(−0 . 256+ j0 . 514 ) s−(−0. 256− j 0 .514 )
Step 9: Now transform analog poles {Pk} into digital poles {epkT} to obtain the digital filter

N Ak
H ( z)=∑k=1 pk T −1
1−e z
2 Ak
=∑k=1 p T −1
1−e k z
0 .257 j 0. 257 j
= −0 . 256T j 0. 513T −1
−
s−e e z s−e−0 .256 T e− j0 . 513 T z −1
−1
0 . 1954z
H ( z )=
1−1 . 3483 z−1 +0. 5987 z−2

=====================================================================

H.W: Challenge 1: Design a chebyshev filter to meet the constraints by using bilinear transformation
and assume sampling period T=1 sec.
1
≤|H ( e jω)|≤1 0≤ω≤0. 2 π
√2
|H ( e jω )|≤0 .1 0 .5 π≤ω≤π .
Solution:
0.0413  1  z 1 
2

H(z) 
Ans: 1  1.44 z 1  0.675 z 2

====
===========================================================
S+0 . 2
H a (s )=
H.W: Convert the following analog filter with transfer function ( s +0 . 2 )2 +16 using bilinear
0.105  0.0192 z 1  0.0864 z 2
H ( z) 
transformation. Ans: 1  1.155z 1  0.9232 z 2
Find the order and poles of a low pass Butterworth filter that has 3dB bandwidth of 500Hz and attenuation of
40dB at 1kHz.
===============================================================
Filter design using frequency translation (HPF, BPF, BRF):

IIR Filters Page 28

 A digital filter can be converted into a digital high pass, band stop or another digital filter. These
transformations are given below.

Low pass to Low pass Low pass to high pass

z 1    z 1   
z 1  z 1    1 
1   z 1 1   z 
sin ( p   p' ) / 2  cos ( 'p   p ) / 2 
where   where   
sin ( p   p' ) / 2  cos ( 'p   p ) / 2 
 p  passband frequency of lowpass filter
 p  passband frequency of lowpass filter
  passband frequency of new lowpass filter
'
p
 'p  passband frequency of highpass filter
Low pass to Band pass Low pass to Band Stop
 2 k 1 k  1  2 1 1  k
  z 2  z   z 2  z 
1  1 k k 1 1
z  1  k 1 k
z  1  k 2 2 1
k  1 2 2 k 1 z  z 1
z  z 1 1 k 1 k
k 1 1 k
cos  (u  l ) / 2 cos  (u  l ) / 2 
where   where  
cos  (u  l ) / 2 cos  (u  l ) / 2
p    l  
   l  k  tan  u tan p
k  cot  u  tan 
 2  2  2  2
u  upper cutoff frequency u  upper cutoff frequency
l  lower cutoff frequency l  lower cutoff frequency
============================================================================
Analog Domain:
The frequency transformation can be used to design on LPF with different pass band frequency HPF,BPF
and BSF from a normalized Low pass filter ΩC=1 rad/sec.
Low pass to Low pass Low pass to high pass
S ΩC
S→ S→
ΩC S
Low pass to band pass Low pass to band stop
2 s ( Ωu −Ωl )
s +Ω l Ω u
s→ s→ 2
s ( Ωu −Ωl ) s +Ω l Ω u
Ωr =min {|A|,|B|} Ω1 ( Ωu −Ω l )
Ωr =min {|A|,|B|} A=
−Ω 2 +Ω l Ωu −Ω 2 +Ωl Ωu
1 1
A= Ω2 ( Ωu −Ω l )
Ω 1 ( Ωu −Ωl ) B=−Ω +Ω Ω
Ω 2−Ω l Ωu 2
2 l u
B= 2
Ω2 ( Ωu −Ω l )
=====================================================================

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 1
≤H ( e jω ) ≤1 for 0≤ω≤0.2 π
√2
H:W: 1. Design a digital chebyshev filter 0≤|H e jω ≤0 . 1 ( ) for 0 .5 π≤ω≤π|
by using bilinear transformation and assume period T=1 sec.
Ans :
2
0 . 212 0 .0413 ( 1+ z−1 )
N=2 ; H (s )= 2 ; H ( z )=
s + 0 . 4172 s+0 . 3 1−1. 44 z −1 + 0 .675 z−2
2. Enumerate the various steps involved in the design of low pass digital Butterworth IIR filter.
jω
0.8≤H ( e )≤1 for 0≤ω≤0.2π
||H ( e jω )|≤0.2 for 0 .32π≤ω≤π|
Design Butterworth digital filter using impulse invariant transformation.
Ans:
0. 2 084
N=4 ; H (s )= ;
( s 2 +0 . 5171 s+0. 4565 )( s 2 +1 .2485 s+0 . 4565 )
−0. 6242+0 . 2747 z −1 0 . 6242−0 .1168 z −1
H ( z)= +
1−0 .253 z−1 +0 . 5963 z −2 1−1 . 03582 z−1 +0 . 2869 z −2
3. Design a chebyshev low pass filter with the specifications αs=1 dB ripple in the pass band
0≤ω≤0 .2 π ,αs=15dB ripple in the stop band 0 .3 π≤ω≤π , using (a) Bilinear transformation
(b) Impulse invariance.
(a) Bilinear transformation:
Ans:
0. 04381
N=4 ; H (s )= ;
( s 2 +0 . 1814 s +0 . 4165 )( s2 +0 . 4378 s+0. 1180 )
−1 4
0 . 001836 ( 1+z )
H ( z )=
( 1−1. 499 z−1 +0 . 8482 z−2 )( 1−1. 5548 z−1 +0 . 6493 z−2 )
(b) Impulse invariance:
Ans:
0. 03834
N=4 ; H (s )= ;
( s 2 +0 . 175 s+0 .391 )( s2 +0 . 423 s+0. 11 )
−0 . 083−0. 0245 z−1 0 . 083+0 .0238 z−1
H ( z )= +
1−1 . 49 z−1 +0 . 839 z −2 1−1 .56 z−1 +0. 655 z−2
4. Use the backward difference for the derivative to convert the analog low pass filter with system function.
1
H (s )=
s+2
1
H ( z )=
Ans: 3−z −1
5. For the analog transfer function determine H(z) using impulse invariant technique. Assume T=1sec.
1 0 . 2326 z
−1
H (s )= H ( z )=
( s+1 ) ( s +2 )
Ans: 1−0 . 5032 z−1 +0. 0498 z−2
[May/Jue-2016]
6. Determine H(z) using the impulse invariant technique for the analog transfer function.

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 1
H (s )=
2
( s+0 . 5 ) ( s +0 . 5 s +2 )
0 .5 1−0. 1385 z−1 0. 7663 z−1
Ans:
H ( z)=
1−0 . 6065 z−1
−0 .5 (
1+0 . 277 z−1 +0 . 606 z −2
+0 . 0898 )
1−0 . 277 z−1 +0 .606 z−2 ( )
1 0 . 0476(1+z−1 )2
H (s )= H ( z)=
7. Using bilinear transformation obtain H (z) if (s+1)2 and T=0.1s. Ans: (1−0. 9048 z−1 )2
s+0 . 1
H (s )=
8. Convert the analog filter with system function (s+ 0 .1 )2 +9 into a digital IIR filter using
π
ωr= .
bilinear transformation. The digital filter should have a resonant frequency of 4 [Nov/Dec-2015]
1+0 . 027 z−1−0 . 973 z−2
H ( z)=
8 .572−11.84 z−1 +8 .177 z−2
9. A digital filter with a 3 dB bandwidth of 0.25π is to be designed from the analog filter whose
Ωc
H (s)=
system response is s+Ω c . Use bilinear transformation and obtain H(z). [Nov/Dec-15]
−1
1+ z
H ( z)=
3 . 414−1. 414 z −1
******************************************************************************************************************
p s
c  1 N
 1 N
0.1 p
ProveSolution:
that (10  1) 2
(100.1 s  1) 2

Solution:
2 1
H ( j )  2N by comparing
  
1     
2N
  
2N

 c  1    1  2  
 p
2 1  c   
we know H ( j )  2N 2N 2N
        
1  2      2  
 p  p
   c   
2N
 p  0.1 p
where    10 1
 c 
1 p p
0.1 p 1  100.1 s  1  2N there fore c  1 N
 1
  c (10  1) 2N
 0.1 p  (10
0.1 p
 1) 2
 N
10  1 2N
s   100.1 s  1
c  and  s  
1  p 10
0.1 p
1
(100.1 s  1) 2 N  
1
p s  100.1 s  1  2N
thus c  1
 1 N  s   p  0.1 p 
0.1 N
(10 p  1) 2 (100.1 s  1) 2 10  1

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